A tutorial account of variable structure control with sliding mode is presented. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach. This approach is particularly attractive for the control of nonlinear systems. Prominent characteristics such as invariance, robustness, order reduction, and control chattering are discussed in detail. Methods for coping with chattering are presented. Both linear and nonlinear systems are considered. Future research areas are suggested and an extensive list of references is included. >

Variable structure control: a survey

Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.

Robot Manipulator Control: Theory and Practice

In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control technique is developed for n-link rigid robotic manipulators. It is shown that an MIMO terminal switching plane variable vector is first defined, and the relationship between the terminal switching plane variable vector and system error dynamics is established. By using the MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators, a robust controller can then be designed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed. It is also shown that the high gain of the terminal sliding mode controllers can be significantly reduced with respect to the one of the linear sliding mode controller where the sampling interval is nonzero. >

https://researchbank.swinburne.edu.au/file/8f91167c-04b4-46b4-984c-85aa2dd6096d/1/PDF (Published version).pdf

A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators

Nonholonomic mobile robots have constraints imposed on the motion that are not integrable, i.e., the constraints cannot be written as time derivatives of some function of the generalized coordinates. The position control of nonholonomic mobile robots has been an important class of control problems. In this paper, we propose a robust tracking control of nonholonomic wheeled mobile robots using sliding mode. The posture of a mobile robot is represented by polar coordinates and the dynamic equation of the robot is feedback-linearized by the computed-torque method. A novel sliding mode control law is proposed for asymptotically stabilizing the mobile robot to a desired trajectory. It is shown that the proposed scheme is robust to bounded external disturbances. Experimental results demonstrate the effectiveness of accurate tracking capability and the robust performance of the proposed scheme.

Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots

Current approaches to the robust control of the motion of rigid robots are surveyed, and the available literature is summarized. The five major design approaches discussed are the linear-multivariable approach, the passivity approach, the variable-structure approach, the saturation approach, and the robust-adaptive approach. Some guidelines for choosing a method are offered. >

/pdf/survey-of-robust-control-for-rigid-robots-l1wrl6cxf6.pdf

Survey of robust control for rigid robots

A controller design for manipulators using the theory of variable-structure systems (VSS) is presented to deal with the set-point regulation problem. The major obstacle of VSS vector control with strong dynamic coupling is overcome for a class of systems with positive symmetric inertia matrices. Parameter variations can easily be considered in the design methodology, which is readily extendable to a higher number of links. The problem of chattering is solved by the introduction of sliding sectors. >

K.S. Yeung

Papers

A new controller design for manipulators using the theory of variable structure systems